EP 3421192 B1 20230531 - GRIPPING DEVICE, ROBOT HAVING SUCH A GRIPPING DEVICE, AND WIRE ELECTRIC DISCHARGE MACHINING MACHINE CELL, HAVING SUCH A ROBOT
Title (en)
GRIPPING DEVICE, ROBOT HAVING SUCH A GRIPPING DEVICE, AND WIRE ELECTRIC DISCHARGE MACHINING MACHINE CELL, HAVING SUCH A ROBOT
Title (de)
GREIFVORRICHTUNG, ROBOTER MIT SOLCH EINER GREIFVORRICHTUNG UND DRAHTERODIERMASCHINEN-MACHINENZELLE MIT SOLCH EINEM ROBOTER
Title (fr)
DISPOSITIF DE PRÉHENSION, ROBOT ÉQUIPÉ D'UN TEL DISPOSITIF DE PRÉHENSION ET CELLULE DE MACHINE D'USINAGE PAR DÉCHARGE ÉLECTRIQUE À FIL PRÉSENTANT UN TEL ROBOT
Publication
Application
Priority
EP 17178945 A 20170630
Abstract (en)
[origin: EP3421192A1] The invention refers to a gripping device (1) configured as a robot tool or a robot hand, having at least two gripper fingers (9, 9') rotationally coupled to each other by a joint (11), the gripper fingers (9, 9') being pivotable about a rotational axis (A) defined by the joint (11) between at least a gripping position and a release position, wherein an angle between the gripper fingers (9, 9') about the rotational axis (A) is larger in the gripping position than in the release position, wherein, the gripper fingers (9, 9') are configured to reach through a through-hole (13) in an object (15) to be gripped by the gripping device (1) from a first side (17) of the object (15), wherein the gripper fingers (9, 9') have an end piece (19) at a distal end (21) thereof, the end piece (19) being configured to engage behind the object (15) at a second side (23) opposite the first side (17) along a length axis (L) of the gripper fingers (9, 9'), and wherein the joint (11) is fixed to a joint support (45), the joint support (45) extending from a main body (43) which comprises an actuator mechanism (41) for actuating the gripper fingers (9, 9') between at least the gripping position and the release position, such that the joint (11) is arranged in a distance from the main body (43).
IPC 8 full level
B25J 15/00 (2006.01); B25J 15/02 (2006.01)
CPC (source: CN EP US)
B23H 11/00 (2013.01 - CN); B23H 11/003 (2013.01 - US); B25J 15/0028 (2013.01 - US); B25J 15/0047 (2013.01 - EP US); B25J 15/0206 (2013.01 - CN); B25J 15/022 (2013.01 - EP US); B25J 15/08 (2013.01 - CN); B23H 1/00 (2013.01 - US)
Designated contracting state (EPC)
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
DOCDB simple family (publication)
EP 3421192 A1 20190102; EP 3421192 B1 20230531; EP 3421192 B8 20230712; CN 109202950 A 20190115; JP 2019010727 A 20190124; KR 20190003396 A 20190109; US 2019001506 A1 20190103
DOCDB simple family (application)
EP 17178945 A 20170630; CN 201810698784 A 20180629; JP 2018124727 A 20180629; KR 20180075434 A 20180629; US 201816022722 A 20180629